2014 IEEE International Conference on Robotics and Automation (ICRA) 2014
DOI: 10.1109/icra.2014.6906927
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Mapping sound emitting structures in 3D

Abstract: This paper presents a framework for creating a 3D map of an environment that contains the probability of a geometric feature to emit a sound. The goal is to provide an automated tool for condition monitoring of plants. The map is created by a mobile platform equipped with a microphone array and laser range sensors. The microphone array is used to estimate the sound power received from different directions whereas the laser range sensors are used for estimating the platform pose in the environment. During navig… Show more

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Cited by 10 publications
(1 citation statement)
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“…Based on the particle filter, the robot pose's uncertainty is taken into account to estimate sound probability on an occupancy sound map using a ray tracing algorithm. The method has been extend to the 3D case in their later work [11] by replacing 2D occupancy maps with 3D octree map. Although robot pose's uncertainty is considered, after a loop closure the sound map will not be updated accordingly as there is no correlation between robot poses and the sound map once ray tracing took place.…”
Section: Introductionmentioning
confidence: 99%
“…Based on the particle filter, the robot pose's uncertainty is taken into account to estimate sound probability on an occupancy sound map using a ray tracing algorithm. The method has been extend to the 3D case in their later work [11] by replacing 2D occupancy maps with 3D octree map. Although robot pose's uncertainty is considered, after a loop closure the sound map will not be updated accordingly as there is no correlation between robot poses and the sound map once ray tracing took place.…”
Section: Introductionmentioning
confidence: 99%